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- Á¶°Ç: »õ·Î¿î
- À¯Çü: ³í¸® ICS
- ºê·£µå À̸§: Roboduino
- ¿ø»êÁö: Áß±¹
- Based on: Raspberry Pi 5
- For: ROS2
- Programming language-1: Raspberry Pi OS
- Programming language-2: ROS2-HUMBLE
- Programming language-3: Python3
¿É¼ÇÁ¤º¸[(1254)Without RPi Board][(365458)With RPi 5 4GB Board][(350850)With RPi 5 8GB Board]
¶óÁ¸® ÆÄÀÌ 5 ROS2 ·Îº¿ ÀÚµ¿Â÷ AI ºñÀü SLAM ¸ÅÇÎ ³»ºñ°ÔÀÌ¼Ç ÀÎ½Ä ÃßÀû 2DOF Ä«¸Þ¶ó ÀüÀÚ ±³À° Å°Æ®
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ÀÌ MicroROS-Pi5 ROS2 ÀÚµ¿Â÷´Â ¶óÁ¸® ÆÄÀÌ 5 ¸¦ ±â¹ÝÀ¸·Î °³¹ßµÇ¾ú½À´Ï´Ù. ESP32 ÄÚ ÇÁ·Î¼¼¼°¡ ÀåÂøµÈ Micro ROS ·Îº¿ È®Àå º¸µå, 4PCS 310 ÀÎÄÚ´õ ¸ðÅÍ, °íÇ°Áú ŸÀ̾î, 7.4V 2000mAh ÃæÀü½Ä ¹èÅ͸®, MS200 ¶óÀÌ´õ, 2MP Ä«¸Þ¶ó, 2DOF Áü¹ú°ú ¾Ë·ç¹Ì´½ ÇÕ±Ý ÇÁ·¹ÀÓ. ROS2-HUMBLE °³¹ß ȯ°æ ¹× Python 3 ÇÁ·Î±×·¡¹ÖÀ» äÅÃÇÏ°í OpenCV À̹ÌÁö ó¸® ¹× MediaPipe ±â°è ÇнÀ ¾Ë°í¸®ÁòÀ» »ç¿ëÇÏ¿© ·Îº¿ ¸ð¼Ç Á¦¾î, AI ½Ã°¢Àû »óÈ£ ÀÛ¿ë, SLAM ¸ÅÇΠŽ»ö, RViz ½Ã¹Ä·¹ÀÌ¼Ç ¹× ´ÙÁß ½Ã½ºÅÛ µ¿±âÈ Á¦¾î. »ç¿ëÀÚ´Â ¸ð¹ÙÀÏ APP, ¹«¼± ÄÁÆ®·Ñ·¯, ÄÄÇ»ÅÍ Å°º¸µå Á¦¾î·Î Á¦¾î ÇÒ ¼ö ÀÖ½À´Ï´Ù. YahboomÀº °¢ °í°´¿¡°Ô ÀÚ¼¼ÇÑ ÀÚ½À¼ ÀÚ·á, ¼³Ä¡ ºñµð¿À ¹× Àü¹® ±â¼ú Áö¿øÀ» Á¦°øÇÕ´Ï´Ù.
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¶óÁ¸® ÆÄÀÌ 5 º¸µå¿¡ ÀûÇÕÇÕ´Ï´Ù. ÃֽŠÀü¿ø °ø±Þ ¼Ö·ç¼ÇÀº RPi 5 ¿¡ 5.1V/5A Àü¿ø °ø±Þ ÀåÄ¡¸¦ Á¦°øÇÏ¿© USB ÀÎÅÍÆäÀ̽º°¡ RPi 5 ÀÇ Àüü ¼º´ÉÀ» ¹ßÈÖÇϱ⿡ ÃæºÐÇÑ Àü·ù¸¦ Á¦°øÇÕ´Ï´Ù.
¶óÁ¸® ÆÄÀÌ OS + ROS2-HUMBLE »ç¿ëÇÏ¿© ÇÁ·Î±×·¡¹Ö ¾ð¾î·Î ÆÄÀ̽ã 3.
ESP32-Micro ROS ·Îº¿ È®Àå º¸µå, 310 ÀÎÄÚ´õ ¸ðÅÍ, MS200 ¶óÀÌ´õ, 2DOF Ä«¸Þ¶ó PTZ , Cool cooler Pi 50 ¹× ±âŸ Çϵå¿þ¾î ÀåÄ¡¸¦ °®Ãß°í ÀÖ½À´Ï´Ù.
Á¦½ºÃ³ ÀνÄ, »ö»ó ÃßÀû, MediaPipe ÀÚ¼¼ °¨Áö, ¶óÀÌ´Ù ¸ÅÇΠŽ»ö, °æ·Î °èȹ, Àå¾Ö¹° ÃßÀû ¹× ȸÇǸ¦ ½±°Ô ½ÇÇöÇÒ ¼ö ÀÖ½À´Ï´Ù.
Â÷ü´Â ¾ç±Ø »êÈ Ã³¸® µÈ ¾Ë·ç¹Ì´½ ÇÕ±ÝÀ¸·Î ¸¸µé¾îÁ³À¸¸ç µ¶Æ¯ÇÑ ±¸Á¶ µðÀÚÀΰú ¾Æ¸§´ä°í ³»±¸¼ºÀÌ ¶Ù¾î³³´Ï´Ù.
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